Abstract: This letter addresses the robust state estimation problem for mismatched nonlinear dynamic systems. In this context, we are interested in nonlinear filters able to provide consistent ...

Abstract: In this letter, we present a structured Kalman filter associated with the transformation matrix for observable Kalman canonical decomposition from conventional Kalman filter (CKF) in order ...

Longtime distinguished research professor was a leader in the field of plasma physics Distinguished Research Professor of Physics Emeritus Gabor Kalman, a presence in the department for 48 years and a ...

MSCKF (Multi-State Constraint Kalman Filter) is an EKF based tightly-coupled visual-inertial odometry algorithm. S-MSCKF is MSCKF's stereo version. This project is a ...

This repository is the official implementation of the paper "Enhancing State Estimation in Robots: A Data-Driven Approach with Differentiable Ensemble Kalman Filters", which has been accepted to 2023 ...